Predictive pulse width modulation for an open delta h-bridge driven high efficiency ironless permanent magnet machine

ABSTRACT

Embodiments of the present method and system permit an effective method for determining the optimum selection of pulse width modulation polarity and type including determining machine parameters, inputting the machine parameters into a predicted duty cycle module, determining the optimum polarity of the pulse width modulation for a predicted duty cycle based on a pulse width modulation generation algorithm, and determining the optimum type of the pulse width modulation for a predicted duty cycle based on the pulse width modulation generation algorithm.

CLAIM OF BENEFIT AND INCORPORATION BY REFERENCE

This application claims priority to U.S. Provisional Patent ApplicationNo. 61/194,102 to DABOUSSI, filed Sep. 23, 2008, entitled “PREDICTIVEPWM FOR OPEN DELTA H-BRIDGE DRIVE HIGH EFFICIENCY IRONLESS P.H. METER”,the entire disclosure of which is incorporated by reference herein.

TECHNICAL FIELD

1. Field of the Disclosure

This disclosure relates to a method and system that makes use of theavailability of the machine parameters required to achieve optimalselection of pulse width modulation polarity and type. Morespecifically, the disclosure relates to a method and system that uses apredictive duty cycle employing machine parameters to determine both themagnitude and the pulse width of the pulse width modulation that isrequired to generate a waveform at a given operation condition, as wellas the polarity of the pulse width modulation.

2. Description of Related Art

A permanent magnet machine is a type of alternating current (AC) motorwhereby power is supplied to the rotating device by means of imposing anelectromagnetic field onto a field generated by a permanent magnetrotor. To control an AC permanent magnet machine, the absolute positionof the magnetic field produced by the rotor permanent magnets (PM) needsto be known at all times. The magnet's position is important fordetermining the stator current magnitude of the machine necessary toproduce the desired torque. This operation is known as the statorcurrent commutation. Since magnets are rotating with respect to thestator, the magnet position can be calculated by measuring the rotorabsolute angular position. Absolute position sensors such as resolversand optical encoders are typically used to measure the absolute angularposition of the machine rotor.

H-bridge topologies are commonly used to drive open delta permanentmagnet machines, as well as other types of machines. An H-bridge is anelectronic circuit which enables a voltage to be applied across a loadin either direction. The term “H-bridge” is derived from the typicalgraphical representation of such a circuit as seen in FIG. 1A. AnH-bridge is built with four switches, which may be solid-state ormechanical. As seen in FIG. 1B, when switches S1 and S4 are closed, andswitches S2 and S3 are open, a positive voltage will be applied acrossthe motor. However, by opening switches S1 and S4, and closing switchesS2 and S3 (FIG. 1C), this voltage is reversed allowing reverse operationof the motor. An H-bridge arrangement may be used to reverse thepolarity of the motor, but may also be used to stop the motor if themotor's terminals are shorted.

One of the main benefits for using an H-bridge to drive a PM machine isthat it lowers the ripple current in the motor windings that resultsfrom the pulsating voltage waveforms of the pulse modulated power stage.Ripple current is a small unwanted residual periodic variation of thedirect current output of a power supply which has been derived from analternating power source. Another benefit garnered from driving a PMmachine with an H-bridge is that the H-bridge allows a greater level offlexibility to shape the current waveform beyond the 120-degreelimitation imposed by a conventional 3-phase inverter.

To properly control the currents and to minimize the harmonic content inthe current waveforms, robust control must be performed. One of theissues with H-bridge control is that in order to reduce the machineripple current, unipolar pulse width modulation (PWM) must be employed.With unipolar PWM, a 50% reduction in ripple current is achieved whencompared to bipolar PWM. When using unipolar PWM during transitionperiods where the machine emf voltage has a different polarity from theterminal voltage, a combination of unipolar and bipolar PWM must beemployed; otherwise, current distortion will result. The existing priorart merely selects unipolar verses bipolar PWM based upon the sign ofthe current waveform. This conventional approach leads to additionalharmonics in the current waveform that will lead to increased heating inthe machine.

SUMMARY OF THE DISCLOSURE

The present method and system optimizes the pulse width modulationgeneration by appropriately determining when unipolar or bipolar PWMshould be used, by exploiting the machine temperature measurements,machine parameters, operation conditions, and the dynamic model of themachine windings.

Embodiments of the present disclosure relate to a computer-implementedmethod for determining a predictive duty cycle that is able to determinethe magnitude and pulse width of an H-bridge pulse width modulation thatis used to drive a machine motor, including determining machineparameters, inputting the machine parameters into a predicted duty cyclemodule, determining the optimum polarity of the pulse width modulationfor a predicted duty cycle based on a pulse width modulation generationalgorithm, and determining the optimum type of the pulse widthmodulation for a predicted duty cycle based on the pulse widthmodulation generation algorithm.

The embodiments of the present disclosure relate to a system fordetermining a predictive duty cycle that is able to determine themagnitude and pulse width of an H-bridge pulse width modulation that isused to drive a machine motor, including means for determining machineparameters, means for inputting the machine parameters into a predictedduty cycle module, means for determining the optimum polarity of thepulse width modulation for a predicted duty cycle based on a pulse widthmodulation generation algorithm; and means for determining the optimumtype of the pulse width modulation for a predicted duty cycle based onthe pulse width modulation generation algorithm.

The embodiments of the present disclosure further relate to acomputer-readable medium for determining a predictive duty cycle that isable to determine the magnitude and pulse width of an H-bridge pulsewidth modulation that is used to drive a machine motor, including meansfor determining machine parameters, means for inputting the machineparameters into a predicted duty cycle module, means for determining theoptimum polarity of the pulse width modulation for a predicted dutycycle based on a pulse width modulation generation algorithm; and meansfor determining the optimum type of the pulse width modulation for apredicted duty cycle based on the pulse width modulation generationalgorithm.

The method for determining a predictive duty cycle that is able todetermine the magnitude and pulse width of an H-bridge pulse widthmodulation that is used to drive a machine motor may include that thetype of the predicted duty cycle is one of unipolar or bipolar, and thepulse width modulation generation algorithm is

${d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix}{{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\{{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}}\end{pmatrix}}{Vbus}$

wherein E_(emf)(T_(magnet),rpm) is the back emf of the machine as afunction of the magnet temperature and speed, θ_(elect) is theelectrical angle for the machine during that particular duty cycle,I_(ref) is an input quantity of reference current, i.e., the amount ofcurrent that the processor wants to get out of that particular dutycycle, R_(s) is the phase resistance of the machine and is a known inputparameter, T_(winding) is the temperature of the windings in the coil,and is also a known input parameter, L is the inductance of the inductorand is also an input parameter, and Vbus is the supply voltage of theinverter, and is a quantity that is measured by an analog-to-digitalconverter.

The system for determining a predictive duty cycle that is able todetermine the magnitude and pulse width of an H-bridge pulse widthmodulation that is used to drive a machine motor may further includethat the type of the predicted duty cycle is one of unipolar or bipolar,and the pulse width modulation generation algorithm is

${d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix}{{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\{{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}}\end{pmatrix}}{Vbus}$

wherein E_(emf)(T_(magnet),rpm) is the back emf of the machine as afunction of the magnet temperature and speed, θ_(elect) is theelectrical angle for the machine during that particular duty cycle,I_(ref) is an input quantity of reference current, i.e., the amount ofcurrent that the processor wants to get out of that particular dutycycle, R_(s) is the phase resistance of the machine and is a known inputparameter, T_(winding) is the temperature of the windings in the coil,and is also a known input parameter, L is the inductance of the inductorand is also an input parameter, and Vbus is the supply voltage of theinverter, and is a quantity that is measured by an analog-to-digitalconverter.

The computer-readable medium for determining a predictive duty cyclethat is able to determine the magnitude and pulse width of an H-bridgepulse width modulation that is used to drive a machine motor may furtherinclude that the type of the predicted duty cycle is one of unipolar orbipolar, and the pulse width modulation generation algorithm is

${d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix}{{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\{{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}}\end{pmatrix}}{Vbus}$

wherein E_(emf)(T_(magnet),rpm) is the back emf of the machine as afunction of the magnet temperature and speed, θ_(elect) is theelectrical angle for the machine during that particular duty cycle,I_(ref) is an input quantity of reference current, i.e., the amount ofcurrent that the processor wants to get out of that particular dutycycle, R_(s) is the phase resistance of the machine and is a known inputparameter, T_(winding) is the temperature of the windings in the coil,and is also a known input parameter, L is the inductance of the inductorand is also an input parameter, and Vbus is the supply voltage of theinverter, and is a quantity that is measured by an analog-to-digitalconverter.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure is described through a preferred embodiment and theattached drawings in which:

FIG. 1A is a schematic representation of the general structure of anH-bridge;

FIG. 1B is a schematic representation of an H-bridge in one basic state;

FIG. 1C is schematic representation of an H-bridge in another basicstate;

FIG. 2 is a schematic representation of the magnets used in the motor inaccordance with one embodiment of the present disclosure;

FIG. 3 is a block diagram of the arrangement of the system in oneembodiment of the present invention;

FIG. 4 is a graphical representation of the of a duty cycle with respectto one embodiment of the present disclosure;

FIG. 5A is a schematic diagram of a 3-phase open delta machine model;

FIG. 5B is an expanded view of a terminal of the machine;

FIG. 6 is a block diagram for determining the sign and type of thepredicted duty cycle; and

FIG. 7 is a flowchart for determining the optimum pulse width modulationfor a duty cycle.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Applicants have discovered a method and system to optimize the pulsewidth modulation generation by appropriately determining when a unipolarverses a bipolar pulse width modulation should be used. Moreover, thepresent method and system uses a predictive method to determine whenbipolar verses unipolar PWM should be used, and this prediction is basedon factors such as machine temperature measurements, machine parameters,operation conditions, and the dynamic model of the machine windings.

A preferred embodiment of the motor/generator used in the present methodand system is illustrated in FIG. 2. The motor/generator of the presentmethod and system includes, among other things, ironless rotor magnets202, 204, as well as a stator 206.

FIG. 3 illustrates a block diagram of one embodiment of the presentinvention, including a processor 302 with a duty cycle prediction module304 which sends information to a pulse width modulator 306. The pulsewidth modulator 306 switches the pulse for a permanent magnet machine308.

FIG. 4 illustrates a graphical representation of a duty cycle withrespect to one embodiment of the present method and system. FIG. 4depicts, by way of example, when a duty cycle is unipolar and how themachine and processor determines when unipolar positive pulses versesunipolar negative pulses are used in the duty cycle. This graphicalrepresentation also shows the transition periods when the machine emfvoltage has a different polarity from the terminal voltage, and acombination of unipolar and bipolar pulse width modulation must beshould be applied to avoid current distortion.

FIG. 5A illustrates a 3-phase open delta configuration machine modelthat includes schematic representations for three power sources E_(a),E_(b), and E_(c), three resistors R_(a), R_(b), and R_(c), and threeinductors L_(a), L_(b), and L_(e), although other configurations arecontemplated. The currents i_(a), i_(b), and i_(c) of each of the phasesare also depicted in the machine model seen in FIG. 5A. The machinemodel is considered an open delta configuration since the three windingsare not all connected to one point. The machine is able to receivedigital-signals which dictate the motor's movement. For instance, in thecase of a permanent magnet machine, the motor is started spinning by themotor setting the current vector to a very high DC magnitude. Settingthe current vector to a high constant value enables the magnetic fieldvector of the motor to align itself with the current vector. At thisinitial time, the torque angle of the motor is near zero.

FIG. 5B is an expanded view of a terminal of the machine, depicting aterminal being driven by an H-bridge at a power stage 504. The powerstage 504 includes the four switches S₁, S₂, S₃, S₄ of the H-bridge.Thus, the machine is said to have 6-switching poles since the motor has3 phases. FIG. 4B also depicts the supply voltage Vbus and a capacitorC.

FIG. 6 depicts a flow diagram for determining which of the switchingpoles needs to be switched based on the sign and polarity of the of dutycycle. This is accomplished by a processor by solving the algorithm:

${d_{prediction}\left( \theta_{elect} \right)} = {\frac{\begin{pmatrix}{{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\{{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}}\end{pmatrix}}{Vbus}.}$

Where:

-   -   E_(emf)(T_(magnet),rpm) is the back emf of the machine as a        function of the magnet temperature and speed;    -   θ_(elect) is the electrical angle for the machine during that        particular duty cycle;    -   I_(ref) is an input quantity of reference current, i.e., the        amount of current that the processor wants to get out of that        particular duty cycle;    -   R_(s) is the phase resistance of the machine and is a known        input parameter;    -   T_(winding) is the temperature of the windings in the coil, and        is also a known input parameter;    -   L is the inductance of the inductor and is also an input        parameter; and    -   Vbus is the supply voltage of the inverter, and is a quantity        that is measured by an analog-to-digital converter. Some or all        of the input parameters/quantities do not have to be measured        during the operation of the machine, but rather can be known        prior to operation. Parameters that are unknown prior to the        operation of the machine may be measured during operation.

The sign (+ or −) of the output of the algorithm, d_(predictive),delineated above will determine which of the switching poles needs to beswitched. When d_(predictive) is a positive value then the pulse widthmodulation is unipolar positive, thus switching S1 and S2 on whilemaintaining S4 on and S3 off will drive a current in the positivedirection. When d_(predictive) is a negative value, the pulse widthmodulation is unipolar negative, thus switching S3 and S4 on whilemaintaining S2 on and S1 off will drive a current in the negativedirection.

As illustrated in FIG. 6, once the processor inputs parameters 602 intothe predictive duty cycle 604, the algorithm is able to determine thesign 606 of the predictive duty cycle, as well as the value ofd_(predictive) 608, which determines the polarity of the duty cycle.Moreover, the processor determines a predicted duty cycle such that thePI regulator 610 is limited in the amount of current correction that itimplements, i.e., such that the actual current 614 in the motor is closeto the reference current 612 that the processor wants to get out of thatparticular duty cycle. This reduces the ripple current of the machineand consequently the machine motor runs more efficiently.

FIG. 7 illustrates a flowchart for optimizing the torque of a permanentmagnet machine in one embodiment of the present method and system. Instep 702, machine parameters are determined. These parameters may bevalues known prior to the operation of the machine, and/or they may beparameters that are measured during the operation of the machine. Next,in step 704, the machine parameters are input into a duty cycleprediction module. Then, the optimum polarity of the pulse widthmodulation is determined for a predicted duty cycle based on a pulsewidth modulation generation algorithm, which is the equation describedabove, in step 706. Finally, in step 708, the optimum type of pulsewidth modulation is determined for a predicted duty cycle based on apulse width modulation generation algorithm.

Although, the above recited method and system is described forimplementation in a permanent magnet machine, this system, method, andcomputer-readable medium could be used in any type of motor that has aback emf that is proportional to speed.

Thus, the above described method, system, and computer-readable mediumin accordance with the embodiments of the present method and system, ascan now be fully appreciated, provides a very effective method fordetermining the optimum selection of pulse width modulation polarity andtype.

The method and system has been described through a preferred embodiment.However, various modifications can be made without departing from thescope of the method and system as defined by the appended claims andlegal equivalents.

1. A method for determining a predictive duty cycle that is able to determine the magnitude and pulse width of an H-bridge pulse width modulation that is used to drive a machine motor, comprising: determining one or more machine parameters; inputting the machine parameters into a predicted duty cycle module; determining the optimum polarity of the pulse width modulation for a predicted duty cycle based on a pulse width modulation generation algorithm; and determining the optimum type of the pulse width modulation for a predicted duty cycle based on the pulse width modulation generation algorithm.
 2. The computer-implemented method according to claim 1, wherein the pulse width modulation generation algorithm is ${{d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix} {{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\ {{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}} \end{pmatrix}}{Vbus}},$ wherein E_(emf)(T_(magnet),rpm) is the back emf of the machine as a function of the magnet temperature and speed, θ_(elect) is the electrical angle for the machine during that particular duty cycle, I_(ref) is an input quantity of reference current, i.e., the amount of current that the processor wants to get out of that particular duty cycle, R_(s) is the phase resistance of the machine and is a known input parameter, T_(winding) is the temperature of the windings in the coil, and is also a known input parameter, L is the inductance of the inductor and is also an input parameter, and Vbus is the supply voltage of the inverter, and is a quantity that is measured by an analog-to-digital converter
 3. The method according to claim 1, wherein the type of the predicted duty cycle is one of unipolar or bipolar.
 4. A system for determining a predictive duty cycle that is able to determine the magnitude and pulse width of an H-bridge pulse width modulation that is used to drive a machine motor, comprising: means for determining one or more machine parameters; means for inputting the machine parameters into a predicted duty cycle module; means for determining the optimum polarity of the pulse width modulation for a predicted duty cycle based on a pulse width modulation generation algorithm; and means for determining the optimum type of the pulse width modulation for a predicted duty cycle based on the pulse width modulation generation algorithm.
 5. The system according to claim 4, wherein the pulse width modulation generation algorithm is ${{d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix} {{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\ {{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}} \end{pmatrix}}{Vbus}},$ wherein E_(emf)(T_(magnet),rpm ) is the back emf of the machine as a function of the magnet temperature and speed, θ_(elect) is the electrical angle for the machine during that particular duty cycle, I_(ref) is an input quantity of reference current, i.e., the amount of current that the processor wants to get out of that particular duty cycle, R_(s) is the phase resistance of the machine and is a known input parameter, T_(winning) is the temperature of the windings in the coil, and is also a known input parameter, L is the inductance of the inductor and is also an input parameter, and Vbus is the supply voltage of the inverter, and is a quantity that is measured by an analog-to-digital converter.
 6. The system according to claim 4, wherein the type of the predicted duty cycle is one of unipolar or bipolar.
 7. A computer-readable medium for determining a predictive duty cycle that is able to determine the magnitude and pulse width of an H-bridge pulse width modulation that is used to drive a machine motor, comprising: means for determining one or more machine parameters; means for inputting the machine parameters into a predicted duty cycle module; and means for determining the optimum polarity of the pulse width modulation for a predicted duty cycle based on a pulse width modulation generation algorithm; and means for determining the optimum type of the pulse width modulation for a predicted duty cycle based on the pulse width modulation generation algorithm.
 8. The computer-readable medium according to claim 7, wherein the pulse width modulation generation algorithm is ${{d_{prediction}\left( \theta_{elect} \right)} = \frac{\begin{pmatrix} {{{E_{emf}\left( {T_{magnet},{rpm}} \right)} \cdot {\sin \left( \theta_{elect} \right)}} +} \\ {{{i_{ref}\left( \theta_{elect} \right)}{R_{s}\left( T_{winding} \right)}} + {L \cdot \frac{i_{ref}}{t}}} \end{pmatrix}}{Vbus}},$ wherein E_(emf)(T_(magnet),rpm) is the back emf of the machine as a function of the magnet temperature and speed, θ_(elect) is the electrical angle for the machine during that particular duty cycle, I_(ref) is an input quantity of reference current, i.e., the amount of current that the processor wants to get out of that particular duty cycle, R_(s) is the phase resistance of the machine and is a known input parameter, T_(winding) is the temperature of the windings in the coil, and is also a known input parameter, L is the inductance of the inductor and is also an input parameter, and Vbus is the supply voltage of the inverter, and is a quantity that is measured by an analog-to-digital converter.
 9. The computer-readable medium according to claim 7, wherein the type of the predicted duty cycle is one of unipolar or bipolar. 